WO2022050070A1

WO2022050070A1 - Flying robot

Info

Publication number: WO2022050070A1
Application number: PCT/JP2021/030429
Authority: WO
Inventors: 薫星出; 雅樹渋谷; 純川▲崎▼; 知成古川; アブヅル，ダイエム，アブダラ
Original assignee: Thk株式会社
Priority date: 2020-09-03
Filing date: 2021-08-19
Publication date: 2022-03-10
Also published as: DE112021004556T5; CN116018304A; JPWO2022050070A1; US20230312144A1

Abstract

This flying robot includes a body unit, and a plurality of propulsion units that generate propulsive force by driving rotor blades. The plurality of propulsion units include: a propulsion part provided on the body unit; a plurality of leg units supporting the body unit, each leg unit having at least one joint and being configured to be capable of changing the posture of the leg unit; and a control unit that controls the plurality of leg units when landing on a landing surface from a flying state. The control unit adjusts the inclination of the body unit by controlling part or the whole of at least one of the leg units before completely landing on the landing surface after the at least one leg unit contacts the landing surface.

Description

Flying robot

The present invention relates to a flying robot.

In recent years, unmanned aircraft have been used for various purposes, and their development is being actively carried out. As an unmanned aerial vehicle, a radio-controlled unmanned helicopter and a so-called drone are used. Here, there is known a technique for horizontally supporting a helicopter by adjusting the length of a landing support when the helicopter is landed on a slope (see, for example, Patent Document 1). Further, there is known a technique of connecting landing gears to the main body of an air vehicle so as to be independently displaceable and horizontally supporting the main body when landing on rough terrain (see, for example, Patent Document 2).

Japanese Patent Application Laid-Open No. 2015-530318 Japanese Unexamined Patent Publication No. 2019-206333

Conventionally, it is assumed that the landing will be on an inclined flat surface, but it is not assumed that the landing will be on an uneven surface. Therefore, in a conventional flying object, there is a risk of losing balance when landing on an uneven place.

The present invention has been made in view of various circumstances as described above, and an object thereof is to enable more stable landing.

One aspect of the present invention is to have a main body portion and a plurality of propulsion units that generate propulsive force by driving a rotary wing, and the plurality of propulsion units are a propulsion unit provided in the main body portion and the main body. A plurality of legs that support a portion, each of which has at least one joint and is configured to be able to change the posture of each leg, and landing from a flight state. The control unit includes a control unit that controls the plurality of legs when landing on the surface, and the control unit includes the landing surface after at least one leg of the plurality of legs comes into contact with the landing surface. It is a flying robot that controls a part or all of the at least one leg portion and adjusts the inclination of the main body portion by the time the landing on the landing is completed.

According to the present invention, more stable landing is possible.

It is a figure which shows an example of the schematic structure of the flight robot which concerns on embodiment. It is an example of the block diagram which shows each functional part included in the main body part which concerns on embodiment. It is a figure which showed the state of the leg part at the time of landing of the flying robot which concerns on embodiment. It is a figure which showed an example of the relationship between a flying robot and an obstacle when the flying robot which concerns on embodiment rises. It is an example of the flow chart of the landing control which concerns on 1st Embodiment. It is a figure which showed the state of the leg part at the time of landing of the flying robot which concerns on the modification of 1st Embodiment. It is an example of the flow chart of the landing control which concerns on the 2nd Embodiment.

The flight robot, which is one of the embodiments of the present invention, includes a main body portion, a propulsion portion, a leg portion, and a control unit. The propulsion unit has a plurality of propulsion units. The plurality of propulsion units can individually change the propulsive force by, for example, individually changing the rotation speed of the rotor blades, whereby the attitude of the flying robot can be changed. For example, by giving a difference in the propulsive force of a plurality of propulsion units, the flying robot can be tilted to move in a desired direction and to perform attitude control. Further, by changing the propulsive force of a plurality of propulsion units at the same time, it is possible to move in the vertical direction.

The tips of the multiple legs are the parts that come into contact with the landing surface when the flying robot lands. Here, when landing on rough terrain, not all of the plurality of legs come into contact with the landing surface at the same time. Then, for example, if the landing surface is uneven and one leg first contacts the landing surface, the flight robot may tilt around this contact portion. That is, when one leg comes into contact with the landing surface, the flying robot tilts due to the reaction force from the landing surface. In contrast, the legs in the present disclosure have at least one joint. Here, when the leg touches the landing surface and a force is applied to the leg, the vertical distance between the tip and the base of the leg is changed by moving the joint of the leg. Can be done. As a result, the reaction force received from the landing surface can be reduced. Then, from the time when at least one of the plurality of legs comes into contact with the landing surface until the landing on the landing surface is completed, a part or all of the at least one leg is controlled to control the main body. By adjusting the tilt, it is possible to prevent the aircraft from losing its posture during landing. The completion of landing means, for example, that the propulsive force of the propulsion unit can be stopped. It may be in flight until the landing is completed. The plurality of legs may be configured so that the flying robot can walk after landing, for example. That is, the plurality of legs may have a function as a leg when landing and a function as a leg when walking after landing. In this way, the leg for landing and the leg for walking after landing can be used in combination. However, the walking function is not essential for multiple legs.

Further, in the process of lowering the main body by the propulsion unit in order to land on the landing surface from the flight state, the control unit first touches the landing surface among the plurality of legs. After the first treatment to be recognized as the first leg and the first treatment, the main body is further maintained while maintaining the contact between the first leg and the landing surface and moving the joint of the first leg. The second process of lowering the leg to bring the other leg into contact with the landing surface may be performed.

The descent of the main body continues even after the first leg comes into contact with the landing surface. Therefore, the process of lowering the main body includes the case where the main body is lowered after the legs come into contact with the landing surface. In the first treatment, the leg that first comes into contact with the landing surface is recognized as the first leg. Whether or not each leg has come into contact with the landing surface can be determined based on, for example, a pressure sensor provided at the tip of each leg and a change in the output value of the pressure sensor. Alternatively, for example, the force applied to the joints of each leg may be detected. For this detection, a change in the current flowing through the actuator provided in the joint may be used. Further, as another method, for example, the first leg portion may be recognized according to the inclination of the main body portion. For example, when the main body portion is tilted, the leg portion whose base end portion is located on the uppermost side may be recognized as the first leg portion.

In the second process, the main body is further lowered while moving the joint of the first leg. By moving the joint of the first leg, even if the main body is further lowered, the reaction force from the landing surface can be reduced, so that the main body can be suppressed from tilting. Then, by further lowering the main body portion, the legs other than the first leg portion may come into contact with the landing surface. In this way, by the second treatment, it is possible to bring the legs other than the first leg into contact with the landing surface while suppressing the tilt of the main body.

Further, in the second process, the control unit maintains contact between the other leg portion in contact with the landing surface and the landing surface, and moves the joint of the other leg portion while moving the main body. The portion may be lowered. This allows the other legs to come into contact with the landing surface. In this way, by sequentially contacting the plurality of legs with the landing surface and moving the joints of the legs in contact with the landing surface, it is possible to bring the plurality of feet into contact with the landing surface without disturbing the posture of the main body. can.

Further, while the second process is being performed by the control unit, the propulsion unit may drive the plurality of propulsion units so that the main body unit is maintained in a horizontal state. That is, when the legs come into contact with the landing surface, the propulsive forces of the plurality of propulsion units can be individually changed while moving the joints, so that the main body can be easily brought closer to the horizontal state.

Further, the control unit further controls the contact of the other leg with the landing surface based on the angle of the joint in the first leg while the second process is being performed. A third process for determining whether or not the descent of the main body can be continued may be executed. When lowering the main body while moving the joint of the first leg, if the distance between the other legs and the landing surface is long, the upper limit of the range of motion of the joint will be reached while moving the joint of the first leg. It can reach. For example, if the landing surface that the first leg contacts is protruding, or if there is a hole in the downward landing surface of the other leg, before the other leg contacts the landing surface. , The joint of the first leg reaches the upper limit of the movable range. In this case, if the main body is to be further lowered, the reaction force received by the first leg from the landing surface cannot be reduced, so that the main body tilts around the contact portion between the first leg and the landing surface. There is a risk. Therefore, the control unit determines whether or not the descent of the main body unit can be continued. By executing such a third process, it is possible to determine whether or not the horizontal state of the main body can be maintained, so that it is possible to suppress landing in an unstable state.

Further, when it is determined in the third process that the descent of the main body portion cannot be continued, the control unit receives the first leg portion in the first leg portion while maintaining the state in which the first leg portion is in contact with the landing surface. The propulsion unit raises the main body to the position at the time of the first contact while returning the angle of the joint to the state at the time of the first contact when the first leg portion first contacts the landing surface. May be good. If it is determined in the third process that the descent of the main body cannot be continued, the main body may be tilted beyond the upper limit of the movable range of the joint of the first leg. If the propulsive force of the propulsion unit is increased while the main body is tilted, the aircraft may rise from the vertical direction to the tilted direction. If there is an obstacle in the direction in which the aircraft rises, there is a risk of contact with the obstacle. Therefore, the control unit returns the angle of the joint in the first leg to the state at the time of the first contact when the first leg first contacts the landing surface, while the propulsion unit returns the main body to the state at the time of the first contact. Raise to position. In the state at the time of the first contact, since the joint of the first leg is within the movable range, the main body can be maintained in a horizontal state. And, as long as the main body is kept horizontal, even if the propulsion unit increases the propulsive force of the propulsion unit, it can rise in the vertical direction, so even if there is an obstacle nearby. Can also be suppressed from contacting. Further, the main body can be stabilized by raising the main body while maintaining the state in which the first leg is in contact with the landing surface.

Further, at the tip of each of the plurality of legs, a pressure sensor capable of detecting the pressure when each leg comes into contact with the landing surface is provided, and the control unit is the first in the first process. The first leg is recognized based on the presence or absence of an output regarding contact from the pressure sensor provided with the leg, and the control unit further recognizes the pressure provided on each of the plurality of legs. When the output values of the sensors are in a predetermined correlation state, the fourth process for determining that the landing of the flying robot on the landing surface is completed may be executed. That is, when the leg comes into contact with the landing surface, the output of the pressure sensor provided on the leg changes. Therefore, when the output of the pressure sensor provided on each leg changes, it can be determined that the leg has come into contact with the landing surface. Even after that, if another leg comes into contact with the landing surface, the output of the pressure sensor provided on the leg in contact with the landing surface changes. In this way, it is possible to determine the legs in contact with the landing surface based on the presence or absence of the output of the pressure sensor provided on each leg. When the landing of the flying robot is completed, the output of the pressure sensor provided on each leg becomes the output corresponding to the completion of the landing. For example, the total pressure detected by each pressure sensor can be a value that correlates with the mass of the flying robot. Therefore, the predetermined correlation state is a state in which it can be determined that the landing of the flying robot has been completed. The fourth process may be executed in consideration of, for example, the upward propulsive force of the propulsion unit and the mass of the flying robot. When the landing is completed, the tilt of the main body is suppressed even if the propulsion unit stops the generation of propulsive force by the propulsion unit.

Further, a detection unit for detecting the inclination of the main body portion is further provided, and the control unit is in contact with the landing surface from the flight state with the plurality of legs in a predetermined posture. When the detection unit detects the inclination of the main body from the horizontal state, the at least one leg may be controlled to bring the main body closer to the horizontal state. The predetermined posture described above is, for example, a posture that the legs can take when the flying robot is in flight. When the legs come into contact with the landing surface as described above, the main body tilts. When this inclination is detected, the control unit may control at least one leg unit. For example, when the main body is tilted, the leg whose base end is located on the uppermost side is likely to be in contact with the landing surface, so that the joint of the leg may be moved. In this way, by controlling the joints according to the inclination of the main body, it is possible to prevent the flying robot from losing its balance during landing.

Further, the control unit may lower the main body portion while maintaining the contact between the leg portion in contact with the landing surface and the landing surface and moving the joint of the leg portion. By lowering the main body while maintaining the contact between the legs in contact with the landing surface and the landing surface, the other legs can be sequentially brought into contact with the landing surface.

Further, the control unit may further determine whether or not the descent of the main body portion can be continued based on the angle of the joint in the leg portion. If the joints of the legs are moved to bring the main body closer to the horizontal state, the upper limit of the movable range may be reached. If the main body is further lowered after reaching the upper limit of the movable range, it may be difficult to bring the main body closer to the horizontal state. In such a case, it can be determined that the lowering of the main body cannot be continued. By making such a judgment, if the lowering of the main body portion is stopped, the main body portion can be suppressed from tilting.

Further, when the control unit determines that the descent of the main body portion cannot be continued, the control unit maintains the state in which the first leg portion is in contact with the landing surface, and the joint in the first leg portion. The propulsion unit may raise the main body portion to the position at the time of the first contact while returning the angle of the first leg to the state at the time of the first contact when the first leg portion first contacts the landing surface. .. In this way, since the flying robot can be suppressed from ascending in the oblique direction, contact with the obstacle can be suppressed even when an obstacle is present nearby, for example.

The embodiment for carrying out the present invention will be described below with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative arrangements, and the like of the components described in this embodiment are not intended to limit the scope of the present invention to those alone. In addition, the following embodiments can be combined as much as possible.

<First Embodiment>
Here, the flight robot 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram showing an example of a schematic configuration of a flight robot 1 according to the present embodiment. The flight robot 1 includes a main body 2. The main body 2 has a plurality of propulsion units 23. In the example shown in FIG. 1, four propulsion units 23 are mounted on the main body 2, but as long as the main body 2 can fly, four propulsion units 23 are mounted. Not limited to. The propulsion unit 23 has a propeller 21 which is a rotary blade and an actuator 22 for rotationally driving the propeller 21. The propulsion units 23 mounted on the main body 2 are all units of the same type, but the actuator 22 can be independently controlled in each propulsion unit 23. Therefore, it is possible to appropriately control the propulsive force obtained by each propulsion unit 23, and thus it is possible to appropriately control the flight attitude, flight speed, and the like of the main body 2 and the flight robot 1. The flight control of the flight body and the like by the propulsion unit 23 will be described later.

Here, the main body 2 has a body 25 substantially in the center thereof, and a propulsion unit 23 is provided on the tip side thereof radially from the body 25 via a bridge 24. The four propulsion units 23 are arranged at equal intervals on the circumference centering on the body 25.

Further, four legs 30 that support the main body 2 are connected to the main body 2. The four legs 30 are arranged at equal intervals on the circumference around the body 25. The leg portion 30 includes a first link portion 31 whose tip portion comes into contact with the landing surface when landing, a second link portion 32 provided on the body 25 side of the first link portion 31, and a first link portion 31. Drives the first joint 33 that rotatably connects the second link portion 32, the second joint 34 that rotatably connects the second link portion 32 and the bridge 24, and the first joint 33 and the second joint 34. It has an actuator (not shown). The first joint 33 connects the base end portion of the first link portion 31 and the tip end portion of the second link portion 32. The second joint 34 connects the base end portion of the second link portion 32 and the body 25. Each of these joints is designed to rotate in the direction of rotation when landing on rough terrain. For example, the first joint 33 and the second joint 34 have a rotation axis in the horizontal direction, and the rotation axis of the first joint 33 and the rotation axis of the second joint 34 are parallel to each other in the same leg portion 30. Designed to be. Although the present embodiment includes four legs 30, the number of legs 30 is not limited to this, and may be three or more. Further, in the present embodiment, one leg portion 30 has two joints, but the present invention is not limited to this, and it is sufficient to have one or more joints.

Further, the body 25 includes a battery 28 for supplying driving power to the actuator 22 of each propulsion unit 23 (see FIG. 2), and a control device 200 for controlling power supply from the battery 28 to the actuator 22 (see FIG. 2). (See FIG. 2) is installed. The control device 200 supplies electric power from the battery 28 to the actuator, and also controls the joints of the leg portion 30. The control device 200 independently controls each of the first joint 33 and each second joint 34. Further, a pressure sensor 31A for detecting pressure is provided at a position at the tip of the first link portion 31 that comes into contact with the landing surface at the time of landing. The details of the control of the main body 2 by the control device 200 will be described later.

<Control unit of flight robot 1>
Next, the controllable configuration of the main body 2 of the flight robot 1 will be described with reference to FIG. FIG. 2 is an example of a block diagram showing each functional unit included in the main body unit 2 according to the present embodiment. The main body 2 has a control device 200 for performing flight control related to flight, landing control related to landing, and the like. The control device 200 is a computer having an arithmetic processing unit and a memory, and has a control unit 210 as a functional unit. The control unit 210 is formed by executing a predetermined control program in the control device 200.

The control unit 210 is a functional unit that controls the propulsion unit 23 to generate propulsive force for the flight when the main body unit 2 flies. The control unit 210 controls the propulsive force of the four propulsion units 23 based on the environmental information detected by the sensor 27, which is the information related to the flight state of the main body unit 2 and the like. The environmental information includes the angular velocity of the main body 2 detected by the gyro sensor corresponding to the three axes (yaw axis, pitch axis, and roll axis) not shown, and the acceleration sensor corresponding to the three axes not shown. Information on the tilt of the main body 2 and the like can be exemplified. The control unit 210 uses the environmental information acquired from these sensors to feedback control the inclination of the main body unit 2 and the like so as to be in a state suitable for the flight. Further, the environmental information may include an azimuth angle which is the direction of the flight body in the absolute coordinate system when the direction of the earth's axis is used as a reference, and the azimuth angle can be detected by the azimuth angle sensor. The sensor 27 is an example of a detection unit.

When moving the main body 2 and the like back and forth and left and right, the control unit 210 lowers the rotation speed of the actuator 22 of the propulsion unit 23 in the traveling direction, and rotates the actuator 22 of the propulsion unit 23 on the opposite side of the traveling direction. By increasing the number, the main body 2 and the like are in a leaning posture with respect to the traveling direction, and travel in a desired direction. Further, when the main body 2 or the like is rotationally moved, the control unit 210 outputs the output in the rotational direction of the propeller 21 based on the rotational direction of the main body 2 or the like. For example, when the main body 2 or the like is rotated clockwise, the control unit 210 lowers the output of the actuator 22 corresponding to the propeller 21 rotating clockwise, and at the same time, the control unit 210 reduces the output of the actuator 22 corresponding to the propeller 21 rotating counterclockwise. Increase the output.

The control unit 210 is also a functional unit that executes landing control when the flight robot 1 lands. In landing control, the control unit 210 controls the propulsion unit 23 and the leg unit 30. At the time of landing, the control unit 210 controls the actuators provided in the first joint 33 and the second joint 34 based on the detection values of the sensor 27 and the pressure sensor 31A. The actuator provided in each joint of the leg portion 30 is provided with an encoder (not shown) for detecting a state amount (rotational position, rotation speed, etc. of the rotation axis of the actuator) related to each rotation state. Then, the control unit 210 servo-controls the actuator of the leg portion 30 so that the rotation angle of each joint or the like becomes a state suitable for landing based on the state amount of each actuator detected by the encoder of each actuator.

Here, the state of the leg portion 30 at the time of landing of the flight robot 1 will be described with reference to FIG. FIG. 3 is a diagram showing a state of the legs 30 at the time of landing of the flight robot 1 according to the present embodiment. In FIG. 3, a part of the structure of the flight robot 1 is omitted. Reference numeral 3001 indicates the state of the leg portion 30 when the flight robot 1 is in the flight state. In the flight state, for example, the joints of the legs 30 are fixed so as to bend the legs 30 so that the air resistance at the time of movement in the front-back and left-right directions is minimized. For example, the first joint 33 is rotated so that the axial direction of the first link portion 31 approaches the horizontal direction and the tip end side of the first link portion 31 approaches the central axis of the main body portion 2. The state of the legs 30 in the flight state is not limited to this. For example, in addition to the air resistance, the center of gravity of the flight robot 1 may be taken into consideration to stabilize the flight of the flight robot 1.

Reference numeral 3002 indicates the state of the leg portion 30 when the flight robot 1 is ready for landing. For example, when the sensor 27 includes a GNSS (Global Navigation Satellite System) sensor, when the GNSS sensor detects that the flight robot 1 is located above the destination point, it flies. Robot 1 is ready for landing. At this time, the second joint 34 is moved so that each second link portion 32 extends radially in the horizontal direction. Further, the first joint 33 is moved so that the tip end portion of the first link portion 31 faces downward and the central axis of the first link portion 31 is in the vertical direction. That is, each joint portion of the first link portion 31 is controlled so that the first link portion 31 bends at a right angle to the second link portion 32 and the tip portion faces downward in the vertical direction. The landing surface A1 has irregularities, and the distance L1 between the tip of each leg and the landing surface A1 is different for each leg 30. From this state to the next state of 3003, the propulsive force of the propulsion unit 23 is controlled to lower the flight robot 1 in the vertical direction.

Reference numeral 3003 indicates a state in which the flight robot 1 descends and one leg (first leg) first comes into contact with the landing surface A1. Here, the first process of recognizing the leg portion 30 that first contacts the landing surface A1 among the plurality of leg portions 30 as the first leg portion 10A is executed. The control unit 210 recognizes the first leg portion 10A that first contacts the landing surface A1 based on, for example, the output of the pressure sensor 31A provided on each leg portion 30. The control unit 210 further lowers the flight robot 1 even after recognizing the first leg unit 10A. According to the first treatment, the first leg portion 10A that needs to move the first joint 33 and the second joint 34 after that can be recognized.

Reference numeral 3004 indicates a state in which the flight robot 1 is further lowered after recognizing the first leg portion 10A. At this time, the second process is being executed. In the second treatment, after the first treatment, the main body portion 2 is further maintained while maintaining the contact between the first leg portion 10A and the landing surface A1 and moving the first joint 33 and the second joint 34 of the first leg portion 10A. Is a process of lowering and bringing the other leg portion 30 into contact with the landing surface A1. As shown in 3004, in the first leg portion 10A, the first joint 33 has a smaller angle between the first link portion 31 and the second link portion 32, and the second joint 34 has a smaller angle. The control unit 210 controls each joint so that the second link unit 32 moves diagonally upward from the second joint 34. While the second process is being performed, the control unit 210 drives a plurality of propulsion units 23 so that the main body unit 2 is maintained in a horizontal state. In this way, by moving the first leg portion 10A first joint 33 and the second joint 34 in response to the lowering of the main body portion 2, the main body portion 2 is maintained in a horizontal state and the first leg portion 10A is maintained. The main body 2 can be lowered while maintaining contact with the landing surface A1.

Reference numeral 3005 indicates a state in which the other leg portion 30 is in contact with the landing surface A1 after the control unit 210 recognizes the first leg portion 10A. The control unit 210 determines that the other leg portion 30 has come into contact with the landing surface A1 based on the output of the pressure sensor 31A provided at the tip end portion of each leg portion 30. The first joint 33 and the second joint 34 in the leg portion 30 in contact with the landing surface A1 are moved in response to the descent of the main body portion 2, similarly to the joint of the first leg portion 10A. In this way, the four legs 30 are sequentially brought into contact with the landing surface A1. During this time, the main body 2 continues to descend. In this way, the plurality of legs 30 can be brought into contact with the landing surface A1 while maintaining the levelness of the main body 2.

Then, when all four legs 30 come into contact with the landing surface A1, the control unit 210 executes the fourth process of determining that the landing on the landing surface A1 is completed. The control unit 210 may land the flight robot 1 on the landing surface A1 when, for example, the output values of the pressure sensors 31A provided on the plurality of legs 30 are in a predetermined correlation state. Judge that it is completed. The predetermined correlation state is, for example, a state in which the flight robot 1 is balanced, and is a state in which the flight robot 1 can be suppressed from tilting even if the propulsion force of the propulsion unit 23 is stopped. For example, if the total pressure detected by each pressure sensor 31A is a pressure corresponding to the mass of the flight robot 1, it may be determined that the landing is completed. At this time, due to the influence of the propulsive force of the propulsion unit 23, a pressure lower than the pressure corresponding to the actual mass of the flight robot 1 is detected, so that the control unit 210 considers the propulsive force of the propulsion unit 23. Make a judgment. When the control unit 210 determines that the landing is completed, the propulsion unit 23 may be stopped, or the propeller 21 may be rotated to such an extent that the flight robot 1 does not take off.

After recognizing the first leg portion 10A, the 3006 lowers the main body portion 2 until the other leg portion 30 contacts the landing surface A1, and the angle of the first joint 33 reaches the upper limit of the allowable range. It shows the reached state. The upper limit of the allowable range of the angle of the first joint 33 may be, for example, an angle that does not physically bend further due to the structure of the first joint 33 or the structure of the leg 30, and a certain margin is provided for the angle. It may be an added angle. Alternatively, the upper limit of the allowable range of the angle of the first joint 33 may be the angle required to avoid contact between the leg 30 and another portion (for example, the propeller 21). When the angle of the first joint 33 of the first leg portion 10A reaches the upper limit of the allowable range, the main body portion 2 cannot be lowered while maintaining the horizontality of the main body portion 2 any more. The second joint 34 can be handled in the same manner. Since such a situation can occur while the main body 2 is descending, the control unit 210 sets the angle of the first joint 33 or the second joint 34 in the first leg portion 10A while the second processing is being performed. Based on this, the third process of determining whether or not the descent of the main body portion 2 for contacting the landing surface A1 of the other leg portion 30 can be continued is executed. For example, the control unit 210 determines that the lowering of the main body portion 2 cannot be continued when the angle of the first joint 33 of the first leg portion 10A reaches the upper limit of the allowable range. On the other hand, the control unit 210 determines that the main body portion 2 can continue to descend until the angle of the first joint 33 of the first leg portion 10A reaches the upper limit of the allowable range.

Then, when it is determined in the third process that the descent of the main body unit 2 cannot be continued, the control unit 210 executes the process of re-landing. First, the control unit 210 adjusts the propulsive force of the propulsion unit 23 so as to stop the descent of the main body unit 2. Next, the control unit 210 keeps the state in which the first leg portion 10A is in contact with the landing surface A1 and sets the angle of the first joint 33 in the first leg portion 10A to the landing surface A1 by the first leg portion 10A. Return to the state at the time of the first contact that was first contacted. At this time, the propulsion unit 23 raises the main body 2 to the position at the time of the first contact. The position at the time of the first contact is the position shown in 3003. In this way, the propulsion unit 23 and the first leg portion 10A are controlled so that the main body portion 2 is in a horizontal state. Here, if the main body 2 cannot be continuously lowered in the third process, the main body 2 may be tilted. If an attempt is made to raise the body immediately in this state, the main body 2 will be raised in a tilted state. Then, the flying robot 1 may rise in an oblique direction, and if an obstacle exists nearby, the flying robot 1 may come into contact with the obstacle.

Here, FIG. 4 is a diagram showing an example of the relationship between the flight robot 1 and the obstacle A2 when the flight robot 1 according to the present embodiment rises. Reference numeral 4001 shows a case where the flight robot 1 is raised to the sky with the main body 2 tilted. On the other hand, in 4002, while maintaining the state in which the first leg portion 10A is in contact with the landing surface A1, the angle of the first joint 33 in the first leg portion 10A is first contacted by the first leg portion 10A with the landing surface A1. It shows a case where the flight robot 1 is raised to the sky after returning to the state at the time of the first contact. As shown in 4001, if the flying robot 1 rises to the sky while the main body 2 is tilted, there is a risk of contact with the obstacle A2. On the other hand, as shown in 4002, after the angle of the first joint 33 in the first leg portion 10A is returned to the state at the time of the first contact, the main body portion 2 can be returned to the horizontal state. Even if the flying robot 1 rises, contact with the obstacle A2 can be suppressed.

After shifting from the state of 3006 to the state of 3003, the control unit 210 increases the propulsive force of the propulsion unit 23, and raises the flight robot 1 so that the first leg portion 10A separates from the landing surface A1. Then, after the flight robot 1 ascends to the sky, the control unit 210 controls, for example, the propulsion unit 23 to shift the landing point by a predetermined distance or rotate the main body unit in the yaw direction by a predetermined angle on the spot. .. That is, the relative positions of each leg 30 and the landing surface A1 are changed. After that, it shifts to the state of 3002. Then, the control unit 210 tries to land again.

The plurality of legs 30 have a function as a leg when landing and a function as a leg when walking after landing. The control unit 210 is also a functional unit that controls an actuator provided on the leg portion 30 for walking when the flight robot 1 walks after the landing of the flight robot 1 is completed. The control unit 210 controls the leg unit 30 based on the environmental information detected by the sensor 27. Further, the control unit 210 has a leg so that the inclination of the main body 2 is suitable for walking based on the state amount of each actuator detected by the encoder of the actuator provided at each joint of the leg portion 30. Servo control the actuator of unit 30.

<Landing control>
Here, the landing control, which is the control executed when the flight robot 1 lands, will be described with reference to FIG. FIG. 5 is an example of a flow chart of landing control according to the first embodiment. Landing control is realized by executing a predetermined control program in the main body 2. In the present embodiment, it is assumed that the main body 2 receives the information indicating the landing point of the flying robot 1. The routine shown in FIG. 5 is started when the flying robot 1 arrives above the landing point.

In step S101, the control unit 210 hover over the landing position to fix the position. The state of the flight robot 1 at this time corresponds to the state of 3001 in FIG. The control unit 210 controls the propulsion unit so that the flight robot 1 hover over the landing point. Next, in step S102, the control unit 210 puts the leg unit 30 in the pre-landing state. The pre-landing state is the state of the leg portion 30 corresponding to 3002 in FIG. The control unit 210 makes the first joint 33 and the second joint 34 of all the leg portions 30 so that the central axis of the first link portion 31 is in the vertical direction and the central axis of the second link portion 32 is in the horizontal direction. move.

In step S103, the control unit 210 starts the descent of the main body unit 2. The control unit 210 lowers the main body 2 by reducing the propulsive force of the propulsion unit 23. At this time, the main body 2 is lowered while controlling the propulsive force so that the main body 2 approaches the horizontal. In this step S103, if the main body 2 is already in the lowered state, the main body 2 is continuously lowered. In step S104, the control unit 210 determines whether or not any of the leg units 30 has come into contact with the landing surface A1 based on the output value of the pressure sensor 31A. For example, when the output value of the pressure sensor 31A becomes equal to or higher than the preset landing threshold value, it is determined that the leg portion 30 provided with the pressure sensor 31A has come into contact with the landing surface A1. If an affirmative determination is made in step S104, the process proceeds to step S105, and if a negative determination is made, the process returns to step S103 and the main body 2 is continuously lowered. The state of the flight robot 1 when the affirmative determination is made in step S104 corresponds to the state shown in 3003 of FIG.

In step S105, the control unit 210 specifies the first leg unit 10A. The control unit 210 identifies the leg portion 30 whose output value of the pressure sensor 31A first becomes equal to or higher than the landing threshold value as the first leg portion 10A. In step S106, the control unit 210 stores the altitude of the main body unit 2 when the first leg unit 10A comes into contact with the landing surface A1. The control unit 210 may store, for example, the altitude acquired from the altimeter included in the sensor 27, or may store the distance to the landing surface A1 measured by a radar or the like included in the sensor 27. A sensor or the like necessary for measuring altitude may be appropriately provided in the main body 2.

Then, in step S107, the control unit 210 reduces the descending speed of the main body unit. After that, since the first joint 33 and the second joint 34 are moved to adjust the posture of the main body portion 2, the descending speed is lowered in order to facilitate the adjustment at this time. This makes it easier to maintain the horizontal state of the main body 2. Further, in step S108, the control unit 210 moves the first joint 33 and the second joint 34 of the leg portion 30 in contact with the landing surface A1 to maintain the horizontal state of the main body portion 2. The state of the flight robot 1 at this time corresponds to the state shown in 3004 of FIG. The control unit 210 moves the first joint 33 and the second joint 34 of all the leg portions 30 in contact with the landing surface A1 in response to the descent of the main body portion 2. The control unit 210 may move the first joint 33 and the second joint 34 so that the output value of the pressure sensor 31A is, for example, a predetermined value or less. The predetermined value is set as a value at which the main body 2 does not tilt. Alternatively, the control unit 210 may move the first joint 33 and the second joint 34 according to the altitude of the main body unit 2.

In step S109, it is determined whether or not the control unit 210 has detected contact with the landing surface A1 of all the leg units 30. The control unit 210 determines that, for example, when the output values of the pressure sensors 31A of all the legs 30 are equal to or higher than the landing threshold value, the control unit 210 has detected the contact of all the legs 30 with the landing surface A1. If an affirmative determination is made in step S109, the process proceeds to step S110, and if a negative determination is made, the process proceeds to step S112. The state of the flight robot 1 when the affirmative determination is made in step S109 corresponds to the state shown in 3005 of FIG. At this time, the control unit 210 controls the first joint 33 and the second joint 34 so that the main body unit 2 approaches horizontally by using, for example, the environmental information detected by the sensor 27 and the inverse kinematics. do.

In step S110, it is determined whether or not the output values of all the pressure sensors 31A are in a predetermined correlation state. For example, it is determined whether or not the output values of all the pressure sensors 31A correspond to the values obtained by subtracting the predetermined mass from the mass of the flight robot 1. The predetermined mass is an apparent decrease in the mass of the flight robot 1 due to the propulsive force of the propulsion unit 23. If an affirmative determination is made in step S110, the process proceeds to step S111, and if a negative determination is made, the process proceeds to step S114. Then, in step S111, the control unit 210 stops the propeller 21 to complete the landing.

On the other hand, if a negative determination is made in step S109, the process proceeds to step S112, and the control unit 210 acquires the angle of the first joint 33 or the second joint 34 of the first leg portion 10A. In the following, a case where control is performed based on the angle of the first joint 33 of the first leg portion 10A will be described. When controlling based on the angle of the second joint 34, it can be considered in the same manner as the first joint 33. The angle of the first joint 33 is acquired, for example, based on the rotation angle detected by the encoder. Next, in step S113, it is determined whether or not the angle of the first joint 33 is larger than the upper limit value. The upper limit value is set as the upper limit value of the movable range of the first joint 33. The angle of the first joint 33 at this time may be a bending angle from a state where the angle between the first link portion 31 and the second link portion 32 is a right angle. In this step S113, it may be determined whether or not the first joint 33 is in a state where it cannot be moved any further. If an affirmative determination is made in step S113, the process proceeds to step S114. The state of the flight robot 1 when the affirmative determination is made in step S113 corresponds to the state shown in 3006 of FIG. On the other hand, if a negative determination is made in step S113, the process proceeds to step S108, and the control unit 210 continues the descent of the main body unit 2 while moving the joint.

In step S114, the control unit 210 returns the altitude of the main body unit 2 to the original position. The original position referred to here is a position corresponding to the altitude stored in step S106, and corresponds to a position at the time of first contact. In this step S114, the altitude of the main body 2 is raised in order to redo the landing. However, at this time, the altitude of the main body 2 is increased while the joints of the first leg 10A are restored so as to raise the altitude of the main body 2 while maintaining the contact of the first leg 10A with the landing surface A1. I'm raising it. In this way, the flying robot 1 is prevented from coming into contact with the obstacle A2.

In step S115, the control unit 210 further raises the main body unit 2 and further changes the landing position. At this time, the control unit 210 eliminates the contact between the first leg portion 10A and the landing surface A1. Then, for example, the flight robot 1 is climbed by a predetermined distance, and then the flight robot 1 is rotated by a predetermined angle in the yaw direction. Then, the process returns to step S101 and the landing control is repeated.

According to the flight robot 1 having the first joint 33 or the second joint 34 on the leg portion 30, the first joint 33 or the second joint 34 is moved for each leg portion 30 when landing on rough terrain or the like. As a result, the main body 2 can be maintained in a horizontal state. Therefore, it is possible to land on rough terrain or the like while suppressing the flight robot 1 from losing its balance. Further, if the angle of the joint of the first leg portion 10A reaches the upper limit of the allowable range after the first leg portion 10A comes into contact with the landing surface A1, the flight robot 1 loses its balance by re-landing. Can be suppressed. Then, when the landing is redone, the main body 2 is raised to an altitude at which the first leg 10A contacts the landing surface A1, and at this time, the joint is adjusted so as to maintain the contact between the first leg 10A and the landing surface A1. By moving it, it is possible to prevent the flying robot 1 from coming into contact with the obstacle A2.

<Modified example of the first embodiment>
In the first embodiment, the joint of the leg portion 30 in contact with the landing surface A1 is moved. That is, the joints of the respective legs 30 are not moved until they come into contact with the landing surface A1. On the other hand, as another method, after the first leg portion 10A comes into contact with the landing surface A1, the joints of the other leg portions 30 may be moved. At this time, the first joint 33 or the second joint 34 may be moved so that the first link portion 31 moves downward. For example, the first joint 33 and the second joint 34 may be moved so that the central axis of the first link portion 31 faces in the vertical direction. Here, when the first leg portion 10A comes into contact with the landing surface A1, the landing surface A1 on the lower side of the other leg portion 30 is often located close to the other leg portion 30. In such a case, by moving the first joint 33 and the second joint 34 so that the other leg 30 moves downward, the other leg 30 can be brought into contact with the landing surface A1 at an early stage. can. This makes it easier to balance the flying robot 1, for example. In addition, the time required for the flight robot 1 to land can be shortened.

Here, the landing control in the modified example of the present embodiment will be described with reference to FIG. FIG. 6 is a diagram showing a state of the leg portion 30 at the time of landing of the flight robot 1 according to this modification. Since 3001, 3002, and 3003 are the same as those in FIG. 3, the description thereof will be omitted. Reference numeral 3014 indicates a state in which the flight robot 1 is further lowered after recognizing the first leg portion 10A. At this time, the first joint 33 and the second joint 34 are moved so that the leg portions 30 other than the leg portion 30 in contact with the landing surface A1 are brought closer to the direction of the landing surface A1. That is, while lowering the main body portion 2, the joints are moved so that the other leg portions 30 move in the direction of the landing surface A1 relative to the body 25. As shown in 3014, in the first joint 33 of the other leg portion 30, the angle formed by the first link portion 31 and the second link portion 32 is larger than 90 degrees, and the second joint 34 is , Each joint is moved so that the second link portion 32 rotates downward with respect to the second joint 34. At this time, the first joint 33 and the second joint 34 are moved so that the central axis of the first link portion 31 faces in the vertical direction. During this time, the control unit 210 also controls the joints of the plurality of propulsion units 23 and the grounded leg 30 so that the main body 2 approaches horizontally. In this way, by moving the other leg portion 30 downward while maintaining the horizontal state, the contact with the landing surface A1 can be accelerated.

Reference numeral 3015 indicates a state in which the other leg portion 30 is in contact with the landing surface A1 after recognizing the first leg portion 10A. The control unit 210 also determines that the other leg portion 30 has come into contact with the landing surface A1 based on the output of the pressure sensor 31A provided at the tip end portion of each leg portion 30. In 3015, it is assumed that all four legs 30 are in contact with the landing surface A1. In this case, the control unit 210 determines that the landing on the landing surface A1 has been completed. The landing determination method is the same as that of 3005 above.

The joints of the other legs 30 may be moved while lowering the main body 2 until all the legs 30 come into contact with the landing surface A1. That is, while moving the first joint 33 and the second joint 34 of the leg portion 30 that are in contact with the landing surface A1, the other leg portion 30 that is not in contact with the landing surface A1 is moved downward. The main body 2 may be lowered while moving the first joint 33 and the second joint 34 of the leg portion 30 of the above. In this way, by sequentially bringing the plurality of legs 30 into contact with the landing surface A1, it is possible to land on the plurality of legs 30 while maintaining the levelness of the main body 2.

After recognizing the first leg portion 10A, 3016 lowers the main body portion 2 until the other leg portion 30 contacts the landing surface A1, and the angle of the first joint 33 reaches the upper limit of the allowable range. It shows a state in which the angle of the first joint 33 and the second joint 34 of the other leg portion 30 has reached the upper limit of the allowable range. In the example of 3016, the angle of the first joint 33 of the first leg portion 10A reaches the upper limit of the bending direction of the allowable range, and the angle of the first joint 33 of the other leg portion 30 is the extension direction of the allowable range. Has reached the upper limit of. When the angle of the joint of each leg portion 30 reaches the upper limit of the allowable range, the main body portion 2 cannot be lowered while maintaining the horizontal position of the main body portion 2, and the other leg portions 30 are moved downward. You will not be able to move it to. Since such a situation may occur while the main body 2 is descending, the control unit 210 determines the angle of the first joint 33 or the second joint 34 in the first leg 10A during the descent of the main body 2, and the like. Based on the angle of the first joint 33 or the second joint 34 in the leg portion 30, it is determined whether or not the lowering of the main body portion 2 for the contact of the other leg portion 30 with the landing surface A1 can be continued. For example, in the control unit 210, when the angle of the first joint 33 of the first leg portion 10A reaches the upper limit of the allowable range and the angle of the first joint 33 of the other leg portion 30 reaches the upper limit of the allowable range. In addition, it is determined that the lowering of the main body 2 cannot be continued. On the other hand, the control unit 210 continues to lower the main body 2 until both the angle of the first joint 33 of the first leg 10A and the angle of the first joint 33 of the other leg 30 reach the upper limit of the allowable range. Judge that it can be done. In this modification, since the other leg portion 30 is moved downward, the flight robot 1 can land even when the height difference of the landing surface A1 is larger than that of the first embodiment.

Then, when it is determined that the descent of the main body unit 2 cannot be continued, the control unit 210 executes a process of re-landing. First, the control unit 210 adjusts the propulsive force of the propulsion unit 23 so as to stop the descent of the main body unit 2. Next, the control unit 210 keeps the state in which the first leg portion 10A is in contact with the landing surface A1 and sets the angle of the first joint 33 in the first leg portion 10A to the landing surface A1 by the first leg portion 10A. Return to the state at the time of the first contact that was first contacted. At this time, the propulsion unit 23 raises the main body 2 to the position at the time of the first contact. Further, at this time, the angles of the first joint 33 and the second joint 34 in the other leg portions 30 are also returned to the state at the time of the first contact in which the first leg portion 10A first contacts the landing surface A1. After the flight robot 1 returns to the state at the time of the first contact, the control unit 210 maintains the level of the main body 2 so that the tip of the first leg 10A separates from the landing surface A1 and the main body 2 Is raised vertically upward.

The landing control of this modification will be described with reference to FIG. 5 above. In step S108 of FIG. 5, the control unit 210 moves the joints of the first leg portion 10A while also moving the joints of the other leg portions 30. Further, in step S112, the control unit 210 acquires the angles of the joints of the other leg portions 30 in addition to the angles of the joints of the first leg portion 10A, and in step S113, the angles of the joints exceed the upper limit value. Judge whether or not.

As described above, according to this modification, it is possible to land on the landing surface A1 having a larger height difference.

<Second Embodiment>
In the first embodiment, the contact between the leg portion 30 and the landing surface A1 is determined based on the output value of the pressure sensor 31A provided in the leg portion 30, but instead of this, in the second embodiment, the flight When the inclination of the main body 2 of the robot 1 is detected, it is determined that the leg 30 has come into contact with the landing surface A1. Therefore, in the second embodiment, it is not necessary to provide the pressure sensor 31A on the leg portion 30. The inclination of the main body of the flight robot 1 is detected by the gyro sensor and the acceleration sensor included in the sensor 27. Here, when the altitude is lowered when landing on rough terrain, the main body portion 2 tilts around the tip portion of the leg portion 30 that first contacts the landing surface A1. Therefore, it can be determined that the leg portion 30 has come into contact with the landing surface A1 when the main body portion 2 is tilted. Further, since the direction in which the main body portion 2 is tilted differs depending on the leg portion 30 in contact with the landing surface A1, the leg portion 30 in contact with the landing surface A1 can be specified based on the direction in which the main body portion 2 is tilted. ..

In the present embodiment, when the inclination of the main body 2 is detected, the leg 30 in contact with the landing surface A1 is specified according to the inclination of the main body 2, and the first joint 33 or the first joint 33 of the leg 30 is specified. The second joint 34 is moved so that the main body 2 approaches the horizontal state. Even after the first leg portion 10A is specified, the first joint 33 and the second joint 34 of the first leg portion 10A are moved so that the main body portion 2 approaches the horizontal state while further lowering the main body portion. After that, in the process of lowering the main body 2, for example, if the level of the main body 2 cannot be maintained only by moving the joint of the first leg 10A, the other leg 30 comes into contact with the landing surface A1. It is determined that it has been done. Also at this time, the other leg portion 30 in contact with the landing surface A1 is specified based on the direction in which the main body portion 2 is tilted. In this way, the legs 30 that have come into contact with the landing surface A1 are specified while correcting the inclination of the main body 2, and when it is determined that all the legs 30 have touched the landing surface A1, the flight robot 1 Landing is complete.

Next, the landing control in the present embodiment will be described with reference to FIG. 3 above. Since 3001 and 3002 are the same as those in the first embodiment, the description thereof will be omitted. In the present embodiment, in the state shown in 3003, when the inclination of the main body 2 detected by the sensor 27 exceeds the threshold value, the leg 30 comes into contact with the landing surface A1. Recognize that. Further, the first leg portion 10A is recognized based on the direction in which the main body portion 2 is tilted. For example, the leg portion 30 located above the inclination of the main body portion 2 is recognized as the first leg portion 10A. The control unit 210 further lowers the flight robot 1 even after recognizing the first leg unit 10A.

Further, after recognizing the state shown in 3004, that is, in the state where the flight robot 1 is further lowered, the contact between the first leg portion 10A and the landing surface A1 is maintained. While moving the first joint 33 and the second joint 34 of the first leg portion 10A, the main body portion 2 is further lowered to bring the other leg portions 30 into contact with the landing surface A1. This process also includes a process of detecting the inclination of the main body 2 by the sensor 27 and moving the first joint 33 or the second joint 34 of the first leg 10A so that the inclination of the main body 2 becomes small. Further, the control unit 210 drives a plurality of propulsion units 23 so that the main body unit 2 is maintained in a horizontal state. In this way, the control unit 210 lowers the main body 2 while controlling the joint and the propulsion unit 23 so that the main body 2 is in a horizontal state.

In the state shown in 3005, that is, in the state where the other leg portion 30 is in contact with the landing surface A1, the control unit 210 also detects that the other leg portion 30 is in contact with the landing surface A1 by the sensor 27. Judgment is made based on the inclination of the part 2. For example, even if the joint and the propulsion unit 23 are controlled so that the main body 2 is in a horizontal state, if the main body 2 is tilted, it is determined that the other leg 30 is in contact with the landing surface A1. .. Further, at this time, the other leg portion 30 in contact with the landing surface A1 is specified based on the direction in which the main body portion 2 is tilted. Then, the main body 2 is lowered while moving the joints of the legs 30 in contact with the landing surface A1 so as to maintain the horizontal state of the main body 2 until all the legs 30 come into contact with the landing surface A1. Let me. Then, the control unit 210 determines, for example, that landing is possible when all the leg portions 30 are in contact with the landing surface A1 and the main body portion 2 is in the horizontal state, and stops the rotation of the propeller 21. Let me.

On the other hand, in the state shown in 3006, that is, the angle of the first joint 33 has reached the upper limit of the allowable range while the main body 2 is being lowered until the other leg 30 comes into contact with the landing surface A1. Then, the control unit 210 returns the flight robot 1 to the state at the time of the first contact and redoes the landing, as in the first embodiment.

<Landing control>
Here, the landing control, which is the control executed when the flight robot 1 lands, will be described with reference to FIG. 7. FIG. 7 is an example of a flow chart of landing control according to the second embodiment. Landing control is realized by executing a predetermined control program in the main body 2. In the present embodiment, it is assumed that the main body 2 receives the information indicating the landing point of the flying robot 1. The routine shown in FIG. 7 is started when the flying robot 1 arrives above the landing point. The steps in which the same processing is executed in the routine shown in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted.

In the flowchart shown in FIG. 7, when the process of step S103 is completed, the process proceeds to step S201. In step S201, the control unit 210 determines whether or not the inclination of the main body unit 2 is detected. For example, the control unit 210 determines whether or not the inclination of the main body unit 2 detected by the sensor 27 exceeds the threshold value. The threshold value is the inclination when the leg portion 30 comes into contact with the landing surface A1. This threshold value is a larger value than when the main body 2 is tilted due to the influence of wind or the like. If an affirmative determination is made in step S201, the process proceeds to step S105, and if a negative determination is made, the process returns to step S103. The state of the flight robot 1 when the affirmative determination is made in step S201 corresponds to the state shown in 3003 of FIG.

Further, in the flowchart shown in FIG. 7, if the process of step S107 is completed, or if a negative determination is made in step S113, the process proceeds to step S202. In step S202, the control unit 210 moves the first joint 33 and the second joint 34 of the leg portion 30 in contact with the landing surface A1 to maintain the horizontal state of the main body portion 2. The state of the flight robot 1 at this time corresponds to the state shown in 3004 of FIG. For example, when the sensor 27 detects the tilt of the main body 2, the control unit 210 moves the first joint 33 and the second joint 34 so that the tilt is eliminated. At this time, feedback control may be performed. When the process of step S202 is executed, the control unit 210 moves the joints of the leg portions 30 so as to maintain the horizontal state of the main body unit 2 in the subsequent processes.

Further, in the flowchart shown in FIG. 7, if an affirmative judgment is made in step S109, the process proceeds to step S111, and the control unit 210 stops the propeller. If the main body 2 is tilted in the process of stopping the propeller 21, the main body 2 may be brought closer to the horizontal state by moving the joints. Further, if the main body 2 cannot be brought close to the horizontal state in the process of lowering the rotation speed of the propeller 21, the control unit 210 may proceed to step S114 and redo the landing.

In this way, the main body 2 can be maintained in a horizontal state by moving the first joint 33 or the second joint 34 according to the detection value of the sensor that detects the inclination of the main body 2. Therefore, it is possible to land on rough terrain or the like while suppressing the flight robot 1 from losing its balance.

Note that, as in the modified example of the first embodiment, after the first leg portion 10A comes into contact with the landing surface A1, each joint may be moved so that the other leg portions 30 move downward. This makes it possible to land on the landing surface A1 having a larger height difference.

1 ... Flying robot, 2 ... Main body, 30 ... Legs, 31 ... First link, 32 ... Second link, 33 ... First joint, 34 ...・ Second joint, 210 ・・・ Control unit

Claims

With the main body
It has a plurality of propulsion units that generate propulsion force by driving a rotary blade, and the plurality of propulsion units include a propulsion unit provided in the main body portion and a propulsion unit.
A plurality of legs that support the main body, each of which has at least one joint and is configured to be able to change the posture of each leg.
A control unit that controls the plurality of legs when landing on the landing surface from the flight state,
Equipped with
The control unit covers a part or all of the at least one leg from the time when at least one of the plurality of legs comes into contact with the landing surface until the landing on the landing surface is completed. Control and adjust the tilt of the main body,
Flying robot.
The control unit
In the process of lowering the main body by the propulsion unit in order to land on the landing surface from the flight state, the leg that first contacts the landing surface among the plurality of legs is recognized as the first leg. First processing and
After the first treatment, while maintaining contact between the first leg and the landing surface and moving the joint of the first leg, the main body is further lowered to move the other leg. The second treatment to bring it into contact with the landing surface,
The flying robot according to claim 1.
The control unit
In the second process, the main body portion is lowered while maintaining the contact between the other leg portion in contact with the landing surface and the landing surface and moving the joint of the other leg portion.
The flying robot according to claim 2.
While the second process is being performed by the control unit, the propulsion unit drives the plurality of propulsion units so that the main body unit is maintained in a horizontal state.
The flying robot according to claim 2 or 3.
The control unit further comprises the body unit for contact of the other leg with the landing surface based on the angle of the joint in the first leg while the second process is being performed. Execute the third process to determine whether the descent of
The flying robot according to any one of claims 2 to 4.
When it is determined in the third process that the descent of the main body cannot be continued, the control unit maintains the state in which the first leg is in contact with the landing surface, and the joint in the first leg. The propulsion section raises the main body portion to the position at the time of the first contact while returning the angle of the first leg to the state at the time of the first contact when the first leg portion first contacts the landing surface.
The flying robot according to claim 5.
At the tip of each of the plurality of legs, a pressure sensor capable of detecting the pressure when each leg comes into contact with the landing surface is provided.
In the first process, the control unit recognizes the first leg portion based on the presence / absence of an output regarding contact from the pressure sensor provided with the first leg portion.
Further, when the output values of the pressure sensors provided on the plurality of legs are in a predetermined correlation state, the control unit causes the flight robot to land on the landing surface. Execute the fourth process to determine that it is completed,
The flying robot according to any one of claims 2 to 6.
Further equipped with a detection unit for detecting the inclination of the main body portion,
When the control unit contacts the landing surface from the flight state with the plurality of legs in a predetermined posture, the detection unit detects the inclination of the main body from the horizontal state. Controlling the at least one leg to bring the body closer to a horizontal state.
The flying robot according to claim 1.
The control unit
While maintaining the contact between the leg portion in contact with the landing surface and the landing surface and moving the joint of the leg portion, the main body portion is lowered.
The flying robot according to claim 8.
The control unit further determines whether or not the descent of the main body portion can be continued based on the angle of the joint in the leg portion.
The flying robot according to claim 8 or 9.
When the control unit determines that the descent of the main body unit cannot be continued, the control unit determines that the first leg portion, which is the first leg portion of the plurality of leg portions that comes into contact with the landing surface, is on the landing surface. While maintaining the contact state, the propulsion unit moves the angle of the joint in the first leg portion to the state at the time of the first contact in which the first leg portion first contacts the landing surface. Raise the main body to the position at the time of the first contact,
The flying robot according to claim 10.
The plurality of legs also serve as a plurality of legs for walking the flying robot after landing on the landing surface is completed.
The flying robot according to any one of claims 1 to 11.